From d609b70296f766ac15a4a627a7fe8631651134cc Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 30 May 2023 20:46:44 -0700
Subject: [PATCH] cars: log non-critical car faults (#28338)

* log non-noEntry acc faults

non

* adasFaulted

* bump

* bump again

* bump agaiiinn

* remove event

* bump to master

* add fixme comment and fix

* whoops

* switch
old-commit-hash: 2ff1eadb1153a26a177a55f1f29426ebf328b655
---
 cereal                          |  2 +-
 selfdrive/car/honda/carstate.py | 15 +++++++++++++--
 2 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/cereal b/cereal
index 9b6b53396f..3f950792d8 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 9b6b53396fff6ec7541a5415901d892e57756b91
+Subproject commit 3f950792d896b9c6e1846e522757abb3eae3087d
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 57a2f4a846..35d6279902 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -195,8 +195,16 @@ class CarState(CarStateBase):
 
     if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
       ret.accFaulted = bool(cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"])
-    elif self.CP.openpilotLongitudinalControl:
-      ret.accFaulted = bool(cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"])
+    else:
+      # On some cars, these two signals are always 1, this flag is masking a bug in release
+      # FIXME: find and set the ACC faulted signals on more platforms
+      if self.CP.openpilotLongitudinalControl:
+        ret.accFaulted = bool(cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"])
+
+      # Log non-critical stock ACC/LKAS faults if Nidec (camera)
+      if self.CP.carFingerprint not in HONDA_BOSCH:
+        ret.carFaultedNonCritical = bool(cp_cam.vl["ACC_HUD"]["ACC_PROBLEM"] or cp_cam.vl["LKAS_HUD"]["LKAS_PROBLEM"])
+
     ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
 
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -331,12 +339,15 @@ class CarState(CarStateBase):
                   ("AEB_REQ_1", "BRAKE_COMMAND"),
                   ("FCW", "BRAKE_COMMAND"),
                   ("CHIME", "BRAKE_COMMAND"),
+                  ("LKAS_PROBLEM", "LKAS_HUD"),
                   ("FCM_OFF", "ACC_HUD"),
                   ("FCM_OFF_2", "ACC_HUD"),
                   ("FCM_PROBLEM", "ACC_HUD"),
+                  ("ACC_PROBLEM", "ACC_HUD"),
                   ("ICONS", "ACC_HUD")]
       checks += [
         ("ACC_HUD", 10),
+        ("LKAS_HUD", 10),
         ("BRAKE_COMMAND", 50),
       ]